CANopen technical guide for ASDA a2

CANopen Technical Guide| |ASDA-A2 Manual Overview Please include the Manual Number and the Manual Version shown below when communicating with us regarding this publication Manual Number: CANopen for ASDA-A2_M_EN_20120920 Manual Version: Second Edition Release Date: 2012/09/20 Publication History Revision Sep, 2012 Version Release Date V2.01 2012/09/20 V2.00 2012/07/27 V1.01 2009/11/30 CANopen Technical Guide| | ASDA-A2 Contents Communication Cable 1.1 Connectors - Pinout 1.2 Baudrate Settings System Setup 2.1 Scope of Function 2.1.1 Function supported by Delta 2.1.2 Function not supported by Delta 2.2 Parameter Settings of CANopen Mode 2.2.1 Connect CANopen Host Controller 2.2.2 Parameters for CANopen Setup CANopen Operation Modes 14 3.1 Profile Position Mode 14 3.1.1 Description 14 3.1.2 Operation Procedure 14 3.1.3 Advanced Procedure 14 3.1.4 Associated Object List 15 3.2 Interpolation Position Mode 16 3.2.1 Description 16 3.2.2 Operation Procedure 16 3.2.3 Associated Object List 17 3.3 Homing Mode 18 3.3.1 Description 18 3.3.2 Operation Procedure 18 3.3.3 Associated Object List 18 3.4 Profile Velocity Mode 19 3.4.1 Description 19 3.4.2 Operation Procedure 19 3.4.3 advanced 19 3.4.4 Associated Object List 19 3.5 Profile Torque Mode 20 3.5.1 Description 20 3.5.2 Operation Procedure 20 3.5.3 Advanced 20 3.5.4 Associated Object List 21 Revision Sep, 2012 CANopen Technical Guide| |ASDA-A2 Object Dictionary Entries 21 4.1 Specifications for Objects 21 4.1.1 Object Type 21 4.1.2 Data Type 21 4.2 Overview of Object Group 1000h 22 4.3 Overview of Object Group 6000h 22 4.4 Details of Objects 24 Diagnostics and Troubleshooting 62 5.1 CANopen Communication Fault Messages 62 5.2 Error Code Table 64 5.3 SDO Error Message Abort Codes 67 Reference 67 Revision Sep, 2012 CANopen Technical Guide| | ASDA-A2 (This page intentionally left blank) Revision Sep, 2012 CANopen Technical Guide| |ASDA-A2 Communication Cable 1.1 Connectors - Pinout Pin Assignment (RJ-45) for CAN bus Wiring Pin No Signal Name Description CAN_H CAN_H bus line CAN_L CAN_L bus line CAN_GND Ground - Reserved - Reserved - Reserved - Reserved - Reserved 1.2 Baudrate Settings Baudrate and Bus Length Revision Sep, 2012 Baudrate Bus Length 1Mbps 25m 750Kbps 50m 500Kbps(Default) 100m 250Kbps 250m 125Kbps 500m CANopen Technical Guide| |ASDA-A2 System Setup 2.1 Scope of Function 2.1.1 Function supported by Delta CANopen protocol: NMT, SYNC, SDO, PDO, EMCY SDO transfer for reading and writing parameters and communication settings PDO sends/receives along with time-trigger, event-trigger, sync cyclic and sync acyclic Node Guarding Heartbeat 2.1.2 Function not supported by Delta Time Stamp Revision Sep, 2012 CANopen Technical Guide| |ASDA-A2 2.2 Parameter Settings of CANopen Mode 2.2.1 Connect CANopen Host Controller Users can follow the below instructions to connect CANopen Host Controller and servo drive A2 ① Set parameter P1-01 to 0x0Bh or 0x0Ch for CANopen mode 0x0Bh is used for simple CANopen mode and it does not support complete CANopen protocol； 0x0Ch is used for standard CANopen protocol and it is recommended to be connected to any motion controller ② Set Parameter P3-00 to Node Id for range 01h~7Fh ③ Set Parameter P3-01 to 0403h for Baudrate 1Mbps (0: 125Kbps; 1: 250Kbps; 2: 500 Kbps; 3: 750Kbps; 4:1Mbps) ④ Set Parameter P3-09 to 0x5055h for Synchronization 2.2.2 Parameters for CANopen Setup P1 - 01● CTL Address: 0102H, 0103H Control Mode and Output Direction Operation Keypad / Software Communication Interface: Default: Control ALL Mode: Unit: pulse (P mode), r/min (S mode), N-m (T mode) Range: 00 ~ 110F Data Size: 16-bit Display Hexadecimal Format: Related Section: 6.1, Table 8.A Settings: A: Control mode settings Pt Pr S T Single Mode 00 ▲ 01 ▲ 02 ▲ 03 ▲ 04 05 Multiple Mode 0E ▲ ▲ ▲ 0F ▲ ▲ ▲ Revision Sep, 2012 Sz Tz ▲ ▲ Pt 06 07 08 09 0A 0B 0C 0D ▲ ▲ ▲ Pr S T Sz Dual Mode ▲ ▲ ▲ ▲ ▲ ▲ ▲ ▲ CANopen Mode (Half) CANopen Mode (Full) ▲ Tz CANopen Technical Guide| |ASDA-A2 Pt: Position control mode The command is from external pulse or analog voltage (external analog voltage will be available soon) Execution of the command selection is via DI signal, PTAS Pr: Position control mode The command is from internal signal Execution of 64 positions is via DI signals (POS0 ~ POS5) A variety of homing control is also provided S: Speed control mode The command is from external signal or internal signal Execution of the command selection is via DI signals, SPD0 and SPD1 T: Torque control mode The command is from external signal or internal signal Execution of the command selection is via DI signals, TCM0 and TCM1 Sz: Zero speed / internal speed command Tz: Zero torque / internal torque command Dual Mode: Control of the mode selection is via DI signals For example, either Pt or S control mode can be selected via DI signal, S-P (see Table 8.A) Multiple Mode: Control of the mode selection is via DI signals For example, either Pt or Pr or S control mode can be selected via DI signals, S-P and Pt-Pr (see Table 8.A) B: Torque output direction settings Direction Forward Reverse C: Discrete I/O Setting 1: When switching to different mode, digital inputs/outputs (P2-10 ~ P2-22) can be reset to be the default value of the mode you switch to 0: When switching to different mode, the setting value of digital inputs/outputs (P2-10 ~ P2-22) will remain the same and will not be changed P3 - 00 ADR Communication Address Setting Operation Keypad / Software Interface: Default: 0x7F Control ALL Mode: Unit: N/A Range: 0x01 ~ 0x7F Data Size: 16-bit Display Hexadecimal Format: Communication Address: 0300H, 0301H Related Section: 9.2 Settings: This parameter is used to set the communication slave address in hexadecimal format This address is an absolute address which represents the servo drive on a RS-232/485 or Revision Sep, 2012 CANopen Technical Guide| |ASDA-A2 CANbus network Display 0 Y X Range - - 0~7 0~F X: Axis number, the value must be within the range from through F Y: Group number, the value must be within the range from to through If the AC servo drive is controlled by RS-232/485 communication, each drive (or device) must be uniquely identified One servo drive only can set one address If the address is duplicated, there will be a communication fault Please note: This parameter does not provide broadcast function and does not respond insecurity When the address of host (external) controller is set to 0xFF, it is with auto-respond function Then, the servo drive will receive from and respond to host (external) controller both no matter the address is matching or not However, the parameter P3-00 cannot be set to 0xFF P3 - 01 BRT Address: 0302H, 0303H Transmission Speed Operation Keypad / Software Interface: Default: 0x0203 Control ALL Mode: Unit: bps Range: 0x0000 ~ 0x0405 Data Size: 16-bit Display Hexadecimal Format: Communication Related Section: 9.2 Settings: This parameter is used to set the baud rate and data transmission speed of the communications Display Z Y X COM Port - CAN - RS-232/485 Range 0~4 0~5 X: Baud rate setting 0: Baud rate 4800 1: Baud rate 9600 2: Baud rate 19200 3: Baud rate 38400 4: Baud rate 57600 Revision Sep, 2012 CANopen Technical Guide| |ASDA-A2 5: Baud rate 115200 Y: Reserved Must be set to be Z: Data transmission speed setting 0: 125K bits / second 1: 250K bits / second 2: 500K bits / second (Default) 3: 750K bits / second 4: 1.0M bits / second Please note: When setting this parameter via CANopen communication, only the setting of Z (data transmission speed setting) can be configured and other settings The communication transmission speed for USB can be set to 1.0M bits / second only and cannot be changed P3 - 09 SYC CANopen Synchronization Setting Operation Keypad / Software Communication Interface: Default: 0x5055 Control CANopen Mode: Unit: N/A Range: refer to the description of Settings Data Size: 16-bit Display Hexadecimal Format: Address: 0312H, 0313H Related Section: - Settings: This parameter is used to set the CANopen slave to be synchronized with the CANopen master through synchronization signal Although this parameter allows the users to execute manual adjustment, if not necessary, we not recommend users to change the default setting manually Display Function Range E SYNC error range 1~9 T Target value 0~9 D M Dead zone Clock correction range setting 0~F 1~F M: Clock correction setting, the value must be within the range from through F, and the unit is usec When setting the CANopen slave to be synchronized with the CANopen master, the clock of the servo drive must be corrected This function is used to set the maximum correction everytime 10 Revision Sep, 2012 CANopen Technical Guide| |ASDA-A2 Sub-Index Description Speed during search for switch Data Type UNSIGNED32 Access RW PDO Mapping Yes Value Range 1~2000rpm Default Value 100 Comment P1-01 = 0x0B, Uint:rpm P1-01 = 0x0C, Uint:0.1rpm Sub-Index Description Speed during search for zero Data Type UNSIGNED32 Access RW PDO Mapping Yes Value Range 1~500rpm Default Value 20 Comment P1-01 = 0x0B, Uint:rpm P1-01 = 0x0C, Uint:0.1rpm Object 609Ah: Homing acceleration INDEX 609Ah Name Homing acceleration Object Code VAR Data Type UNSIGNED32 Access RW PDO Mapping Yes Value Range UNSIGNED32 Default Value 100 Comment Unit: millisecond (time of acc from 0rpm to 3000rpm) Object 60B0h: Position offset 54 INDEX 60B0h Name Position offset Object Code VAR Data Type INTEGER32 Access RW PDO Mapping Yes Value Range INTEGER32 Revision Sep, 2012 CANopen Technical Guide| |ASDA-A2 Default Value Comment Not implement yet Object 60B1h: Velocity offset INDEX 60B1h Name Velocity offset Object Code VAR Data Type INTEGER32 Access RW PDO Mapping Yes Value Range INTEGER32 Default Value Comment Not implement yet Object 60B2h: Torque offset INDEX 60B2h Name Torque offset Object Code VAR Data Type INTEGER16 Access RW PDO Mapping Yes Value Range INTEGER16 Default Value Comment Not implement yet Object 60C0h: Interpolation sub mode select INDEX 60C0h Name Interpolation sub mode select Object Code VAR Data Type INTEGER16 Access RW PDO Mapping Yes Value Range INTEGER16 Default Value Comment P1-01 = 0x0B, 0, -1: manufacturer specific ( Delta definition -need pos difference[OD-60C1sub3]) -2: manufacturer specific (Linear interpolation Revision Sep, 2012 55 CANopen Technical Guide| |ASDA-A2 not need pos difference[OD-60C1sub3]) P1-01 = 0x0C, 0: manufacturer specific (Linear interpolation -not need pos difference[OD-60C1sub2]) -1: manufacturer specific ( Delta definition -need pos difference[OD-60C1sub2]) P1-01 = 0x0B, Object 60C1h: Interpolation data record INDEX 60C1h Name Interpolation data record Object Code ARRAY Data Type UNSIGNED32 Access RW PDO Mapping Yes Comment Set this record by PDO every T msec before SYNC message Where T is specified by 1006h 56 Sub-Index Description Number of entries Data Type UNSIGNED8 Access RO PDO Mapping No Value Range Default Value Sub-Index Description Pos_Cmd (Low Word) Data Type UNSIGNED16 Access RW PDO Mapping Yes Value Range UNSIGNED16 Default Value Comment Unit: low word of 32-bit CMD_PUU Sub-Index Revision Sep, 2012 CANopen Technical Guide| |ASDA-A2 Description Pos_Cmd (High Word) Data Type UNSIGNED16 Access RW PDO Mapping Yes Value Range UNSIGNED16 Default Value Comment Unit: high word of 32-bit CMD_PUU Sub-Index Description Velocity – Pos_Cmd difference Data Type INTEGER16 Access RW PDO Mapping Yes Value Range INTEGER16 Default Value Comment △Xi = (Xi+1 – Xi-1)/2 (it is also the same as velocity) Unit: PUU P1-01 = 0x0C, Object 60C1h: Interpolation data record INDEX 60C1h Name Interpolation data record Object Code ARRAY Data Type INTEGER32 Access RW PDO Mapping Yes Comment Set this record by PDO every T msec before SYNC message Where T is specified by 60C2h:01h Sub-Index Description Number of entries Data Type UNSIGNED8 Access RO PDO Mapping No Value Range Default Value Revision Sep, 2012 57 CANopen Technical Guide| |ASDA-A2 Sub-Index Description Pos_Cmd Data Type INTEGER32 Access RW PDO Mapping Yes Value Range INTEGER32 Default Value Comment Unit: 32-bit CMD_PUU Sub-Index Description Velocity – Pos_Cmd difference Data Type INTEGER16 Access RW PDO Mapping Yes Value Range INTEGER16 Default Value Comment △Xi = (Xi+1 – Xi-1)/2 (it is also the same as velocity) Unit: PUU Object 60C2h: Interpolation time period INDEX 60C2h Name Interpolation time period Object Code RECORD Data Type UNSIGNED8 Access RW PDO Mapping Yes Comment The unit of the interpolation time unit is given interpolation time index in 10 58 seconds Sub-Index Description Number of entries Data Type UNSIGNED8 Access RO PDO Mapping No Value Range Default Value Sub-Index Description Interpolation time units Data Type UNSIGNED8 Revision Sep, 2012 CANopen Technical Guide| |ASDA-A2 Access RW PDO Mapping Yes Value Range UNSIGNED8 Default Value Sub-Index Description Interpolation time index Data Type INTEGER8 Access RW PDO Mapping Yes Value Range -128~63 Default Value -3 Object 60C5h: Max acceleration INDEX 60C5h Name Max acceleration Object Code VAR Data Type UNSIGNED32 Access RW PDO Mapping Yes Value Range UNSIGNED32 Default Value 200 Object 60C6h: Max deceleration INDEX 60C6h Name Max deceleration Object Code VAR Data Type UNSIGNED32 Access RW PDO Mapping Yes Value Range UNSIGNED32 Default Value 200 Object 60F2h: Positioning option code INDEX 60F2h Name Positioning option code Object Code VAR Data Type UNSIGNED16 Access RW PDO Mapping Yes Revision Sep, 2012 59 CANopen Technical Guide| |ASDA-A2 Value Range UNSIGNED16 Default Value Object 60F4h: Following error actual value INDEX 60F4h Name Following error actual value Object Code VAR Data Type INTEGER32 Access RO PDO Mapping Yes Value Range INTEGER32 Comment Unit: PUU Object 60FCh: Position demand value* INDEX 60FCh Name Position demand value* Object Code VAR Data Type INTEGER32 Access RO PDO Mapping Yes Value Range INTEGER32 Comment Unit: increment Object 60FFh: Target velocity INDEX 60FFh Name Target velocity Object Code VAR Data Type INTEGER32 Access RW PDO Mapping Yes Value Range INTEGER32 Comment Unit: 0.1rpm Object 6502h: Supported drive modes 60 INDEX 6502h Name Supported drive modes Object Code VAR Data Type UNSIGNED32 Access Ro PDO Mapping Yes Revision Sep, 2012 CANopen Technical Guide| |ASDA-A2 Value Range UNSIGNED32 Default Value 6Dh Object 2xxxh: Manufacturer parameter INDEX 2xxxh Name Manufacturer parameter Object Code VAR Data Type INTEGER16/INTEGER32 Access RW PDO Mapping Yes Value Range NTEGER16/INTEGER32 Default Value N/A Object 2xxx is defined to parameter If user wants to use CANopen protocol for simulate Keypad press, he or she could read and write Keypad parameter via SDO protocol Pa-bc 2aBCh ‘BC’ is hexadecimal format of ‘bc’ User could query Index first for knowing Length of Parameter and then could change the data by SDO or PDO Example 1: Object 2300h: Node-ID 【P3-00】 INDEX 2300h Name Node-ID Object Code VAR Data Type INTEGER16 Access RW PDO Mapping Yes Value Range INTEGER16 Default Value 7F h Revision Sep, 2012 61 CANopen Technical Guide| |ASDA-A2 Example 2: Object 212Ch: Electronic Gear 【P1-44】 INDEX 212Ch Name Electronic Gear Object Code VAR Data Type INTEGER32 Access RW PDO Mapping Yes Value Range INTEGER32 Diagnostics and Troubleshooting 5.1 CANopen Communication Fault Messages Emergency Object Byte Content Emergency Error Code Error register Panel Alarm Code N/A Fault Messages ( If ALARM code is not showed here, please refer to User Manual ) Display Fault Name Fault Description Clearing Method NMT-ResetNode or AL185 CANbus error (Warning) 6040h fault reset CANbus off or Error Tx Counter exceeds 128 (Check enough bandwidth) NMT-ResetNode or AL186 CANbus error (Bus-Off) 6040h fault reset CANbus off or Error Tx Counter exceeds 255 (Check enough bandwidth) AL170 AL180 Node guarding or Heartbeat error (Servo On) Node guarding or Heartbeat error (Servo Off) Error about node guarding or heartbeat of CANopen protocol NMT-ResetNode or Error about node guarding or heartbeat of CANopen protocol NMT-ResetNode or 6040h fault reset 6040h fault reset AL111 CANopen SDO receive SDO Rx buffer overrun is detected (receive two or NMT-ResetNode or more SDO packets in 1ms) buffer overrun 6040h fault reset AL112 CANopen PDO receive PDO Rx buffer overrun is detected (receive two or NMT-ResetNode or buffer overrun more PDO (same COBID) packets in 1ms) 6040h fault reset 62 Revision Sep, 2012 CANopen Technical Guide| |ASDA-A2 AL121 AL122 AL123 AL124 AL125 AL126 AL127 AL128 AL129 Index error occurs The specified Index in the message does not when accessing exist CANopen PDO object Sub-index error occurs The specified Sub-index in the message does not when accessing exist CANopen PDO object Data type (size) error The data length in the message does not match occurs when accessing the specified object CANopen PDO object Data range error occurs The data in the message has exceeded the data when accessing range of the specified object CANopen PDO object CANopen PDO object The specified object in the message is read-only is read-only and and write-protected (cannot be changed) write-protected NMT-ResetNode or CANopen PDO object The specified object in the message does not does not support PDO support PDO NMT-ResetNode or CANopen PDO object is write-protected when Servo On Error occurs when reading CANopen PDO object from EE-PROM Error occurs when writing CANopen PDO object into EE-PROM NMT-ResetNode or AL130 EE-PROM invalid address range AL131 EE-PROM checksum error AL132 Password error The specified object in the message is write-protected (cannot be changed) when Servo On An error occurs when loading the default settings from EE-PROM at start-up All CANopen objects return to their default settings automatically An error occurs when writing the current settings into EE-PROM The amount of the data saved in EE-PROM has exceeded the space determined by the firmware Maybe the firmware version has been upgraded, and it causes that the data of old firmware version saved in EE-PROM cannot be used The data saved in EE-PROM has been damaged and all CANopen objects return to their default settings automatically The parameter is password protected when using CANopen communication to access the parameter The users must enter the valid password to unlock the parameter 6040h fault reset NMT-ResetNode or 6040h fault reset NMT-ResetNode or 6040h fault reset NMT-ResetNode or 6040h fault reset NMT-ResetNode or 6040h fault reset 6040h fault reset 6040h fault reset NMT-ResetNode or 6040h fault reset NMT-ResetNode or 6040h fault reset NMT-ResetNode or 6040h fault reset NMT-ResetNode or 6040h fault reset NMT-ResetNode or 6040h fault reset P2-08 = 10 or AL201 CANopen load/save 1010/1011 error Fail while Read/Write data from/to EEPROM P2-08 = 30,28 after firmware upgrade AL301 AL302 CANopen SYNC failed The synchronous communication with the external NMT-ResetNode or (Servo On) CANopen SYNC signal error (Servo On) Revision Sep, 2012 controller has failed 6040h fault reset NMT-ResetNode or The CANopen SYNC signal is received too early 6040h fault reset 63 CANopen Technical Guide| |ASDA-A2 AL303 AL304 AL305 AL3E1 AL3E2 AL3E3 AL3E4 AL3E5 AL401 CANopen SYNC time The CANopen SYNC signal is not received within NMT-ResetNode or out (Servo On) the specified time 6040h fault reset CANopen IP command Internal command of CANopen IP mode cannot be NMT-ResetNode or failed (Servo On) sent and received 6040h fault reset SYNC period error Object 0x1006 data error SYNC period 1006h NMT-ResetNode or (Servo On) value is invalid 6040h fault reset CANopen SYNC failed The synchronous communication with the external NMT-ResetNode or (Servo Off) CANopen SYNC signal error (Servo Off) controller has failed 6040h fault reset NMT-ResetNode or The CANopen SYNC signal is received too early 6040h fault reset CANopen SYNC time The CANopen SYNC signal is not received within NMT-ResetNode or out (Servo Off) the specified time 6040h fault reset CANopen IP command Internal command of CANopen IP mode cannot be NMT-ResetNode or failed (Servo Off) sent and received 6040h fault reset SYNC period error Object 0x1006 data error SYNC period 1006h NMT-ResetNode or (Servo Off) value is invalid 6040h fault reset CANopen state error NMT reset or NMT stop is received when drive is NMT-ResetNode or enabled 6040h fault reset 5.2 Error Code Table 32bit-ErrorCode Display Description (16bit-ErrorCode + 16bit-Additional Info) 64 AL001 Overcurrent 2310-0001h AL002 Overvoltage 3110-0002h AL003 Undervoltage 3120-0003h AL004 Motor error 7122-0004h AL005 Regeneration error 3210-0005h AL006 Overload 3230-0006h AL007 Overspeed 8400-0007h AL008 Abnormal pulse control command 8600-0008h AL009 Excessive deviation 8611-0009h AL010 Reserved 0000-0010h AL011 Encoder error 7305-0011h AL012 Adjustment error 6320-0012h Revision Sep, 2012 CANopen Technical Guide| |ASDA-A2 AL013 Emergency stop activated 5441-0013h AL014 Reverse limit switch error 5443-0014h AL015 Forward limit switch error 5442-0015h AL016 IGBT temperature error 4210-0016h AL017 Memory error 5330-0017h AL018 Encoder output error 7306-0018h AL019 Serial communication error 7510-0019h AL020 Serial communication time out 7520-0020h AL021 Reserved AL022 Input power phase loss 3130-0022h AL023 Pre-overload warning 3231-0023h AL024 Encoder initial magnetic field error 7305-0024h AL025 Encoder internal error 7305-0025h AL026 Encoder internal error 7305-0026h AL027 Encoder data error 7305-0027h AL030 Motor protection error 7121-0030h AL031 U,V,W wiring error 3300-0031h AL040 Ful closed-loop excessive deviation 8610-0040h AL099 DSP firmware upgrade 5500-0099h AL201 CANopen Data Initial Error 6310-0201h AL283 Forward software limit 5444-0283h AL285 Reverse software limit 5445-0285h CANbus error (Warning) (Servo On / Servo off according to setting) CANbus error (Bus-off) (Servo On / Servo off according to setting) 8120-0185h AL170 Node guarding or Heartbeat error (Servo On) 8130-0170h AL180 Node guarding or Heartbeat error (Servo Off) 8130-0180h AL111 CANopen SDO receive buffer overrun 8110-0111h AL112 CANopen PDO receive buffer overrun 8110-0112h AL121 Index error occurs when accessing CANopen PDO object 8200-0121h Sub-index error occurs when accessing CANopen PDO object Data type (size) error occurs when accessing CANopen PDO object Data range error occurs when accessing CANopen PDO object 8200-0122h AL125 CANopen PDO object is read-only and write-protected 8200-0125h AL126 CANopen PDO object does not support PDO 8200-0126h AL185 AL186 AL122 AL123 AL124 Revision Sep, 2012 Reserved 8100-0186h 8200-0123h 8200-0124h 65 CANopen Technical Guide| |ASDA-A2 AL127 CANopen PDO object is write-protected when Servo On 8200-0127h Error occurs when reading CANopen PDO object from EEPROM Error occurs when writing CANopen PDO object into EEPROM 8200-0128h AL130 EEPROM invalid address range 8200-0130h AL131 EEPROM checksum error 8200-0131h AL132 EEPROM zone error 8200-0132h AL201 CANopen load/save 1010/1011 error 6310-0201h AL301 CANopen SYNC failed (Servo On) 6200-0301h AL302 CANopen SYNC signal error (Servo On) 6200-0302h AL303 CANopen SYNC time out (Servo On) 6200-0303h AL304 CANopen IP command failed (Servo On) 6200-0304h AL305 SYNC period error (Servo On) 6200-0305h AL3E1 CANopen SYNC failed (Servo Off) 6200-03E1h AL3E2 CANopen SYNC signal error (Servo Off) 6200-03E2h AL3E3 CANopen SYNC time out (Servo Off) 6200-03E3h AL3E4 CANopen IP command failed (Servo Off) 6200-03E4h AL3E5 SYNC period error (Servo Off) 6200-03E5h AL401 CANopen state error 8100-0401h AL128 AL129 66 8200-0129h Revision Sep, 2012 CANopen Technical Guide| |ASDA-A2 5.3 SDO Error Message Abort Codes Abort Code Description 05040001h Client/server command specifier not valid or unknown 06010002 h Attempt to write a read only object 06020000 h Object does not exist in the object dictionary 06040041 h Object cannot be mapped to the PDO 06040042 h The number and length of the objects to be mapped would exceed PDO length 06060000 h Access failed due to an hardware error(store or restore error) 06070010 h Data type does not match, length of service parameter does not match 06090011 h Sub-index does not exist 06090030 h Value range of parameter exceeded(only for write access) 08000000 h General error 080000a1 h Object error when reading from EEPROM 080000a2 h Object error when writing to EEPROM 080000a3 h Invalid Range when accessing EEPROM 080000a4 h Checksum error when accessing EEPROM 080000a5 h Password error when writing encryption zone 08000020 h Data cannot be transferred or stored to the application (store or restore signature error) 08000021 h Data cannot be transferred or stored to the application because of the local control(store or restore while wrong state) 08000022 h Object is on the fly Reference CANopen Application Layer and Communication Profile, CiA Draft Standard 301, Version 4.02, Date: 13 February 2002 CANopen Device Profile Drives and Motion Control, CiA Draft Standard Proposal 402, Version 2.0, Date: 26 July 2002 Revision Sep, 2012 67 CANopen Technical Guide| |ASDA-A2 (This page intentionally left blank) 68 Revision Sep, 2012 ... servo off Z: N/A Revision Sep, 2012 11 CANopen Technical Guide| |ASDA-A2 U: N/A Please note: For ASDA-A2- M model, Y-bit is available, but X-bit is invalid For ASDA-A2- F model, X-bit is always be... Revision Sep, 2012 CANopen Technical Guide| |ASDA-A2 2.2 Parameter Settings of CANopen Mode 2.2.1 Connect CANopen Host Controller Users can follow the below instructions to connect CANopen Host Controller... parameter P1-01 to 0x0Bh or 0x0Ch for CANopen mode 0x0Bh is used for simple CANopen mode and it does not support complete CANopen protocol； 0x0Ch is used for standard CANopen protocol and it is recommended